.TH "Zebulon::Gamblore::GlobalPoseSensor" 3 "13 Oct 2009" "Version 2" "zebulon" \" -*- nroff -*-
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.SH NAME
Zebulon::Gamblore::GlobalPoseSensor \- 
.PP
Global Pose Sensor component for \fBGamblore\fP Unmanned System. This class creates a JAUS Global Pose Sensor that combines data from a DGPS and Digital Compass.  

.SH SYNOPSIS
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.PP
.PP
\fC#include <globalposesensor.h>\fP
.PP
Inherits \fBZebulon::GPS::DGPS::Callback\fP, and \fBZebulon::MicroStrain::ThreeDMGX1::Callback\fP.
.SS "Public Member Functions"

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.RI "virtual int \fBSetupService\fP ()"
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.RI "\fISets the services and registers compass and gps callbacks. \fP"
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.RI "int \fBInitializeGlobalPoseSensor\fP (const std::string &compassPortName, const std::string &gpsPortName)"
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.RI "\fIInitializes the sensors belonging to the global pose object. \fP"
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.RI "int \fBShutdownGlobalPoseSensor\fP ()"
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.RI "bool \fBIsSensorInitialized\fP () const "
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.RI "virtual void \fBProcessMessage\fP (const \fBMicroStrain::Message\fP *msg)"
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.RI "virtual void \fBProcessMessage\fP (const \fBNMEA::Message\fP *msg)"
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.RI "\fIMethod called through gps callback. Sets latitude and longitude. \fP"
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.RI "void \fBPrintAttitude\fP () const "
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.RI "\fIPrints attitude values to the screen. \fP"
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.RI "void \fBPrintPosition\fP () const "
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.RI "\fIPrints position values to the screen. \fP"
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.SS "Protected Attributes"

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.RI "CxUtils::Mutex \fBmSensorMutex\fP"
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.RI "\fIMutex for sensor. \fP"
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.RI "std::vector< double > \fBmHeadingHistory\fP"
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.RI "\fIHeading history. \fP"
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.RI "Jaus::GlobalPose \fBmCombinedGlobalPose\fP"
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.RI "\fIGlobal pose from both sensors. \fP"
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.RI "\fBMicroStrain::ThreeDMGX1\fP \fBmCompass\fP"
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.RI "\fIDigital compass interface. \fP"
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.RI "\fBGPS::DGPS\fP \fBmDGPS\fP"
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.RI "\fIDGPS Interface. \fP"
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.SH "Detailed Description"
.PP 
Global Pose Sensor component for \fBGamblore\fP Unmanned System. This class creates a JAUS Global Pose Sensor that combines data from a DGPS and Digital Compass. 

.SH "Author"
.PP 
Generated automatically by Doxygen for zebulon from the source code.
